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US 2026/0217256 A1Published application
Automated control architecture that handles both grip driving and sliding
AssigneeToyota Research Institute, Inc.
InventorsAVINASH BALACHANDRAN, YAN MING JONATHAN GOH, JOHN SUBOSITS, MICHAEL THOMPSON, ALEXANDER R. GREEN
Life of this patent
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Abstract
Systems and methods of autonomously controlling a vehicle across the grip driving and drift driving operating ranges are provided. The contemplated autonomous control can be effectuated using a closed-loop control system. In some embodiments, closed-loop control may be accomplished by deriving control laws involving sideslip angle, yaw rate, wheel speed, and other vehicle states. These control laws may be used to control the vehicle in a stable drift condition.
Claims20
A method comprising:
- receiving first data associated with a current operational state of a vehicle and second data associated with a contextual environment in which the vehicle operates;
- based on the first data and the second data, planning a trajectory for the vehicle, wherein the trajectory comprises a transition from grip driving to drift driving, and wherein the planning comprises correlating the first data to a multi-dimensional representation of operational states of the vehicle partitioned into grip driving regions and drift driving regions;
- and
- causing the vehicle to execute the planned trajectory.
1 more element
A method comprising:
- using a machine learning model to determine a preference of a driver of a vehicle for drift driving based on driving history of the driver;
- receiving first data associated with a current operational state of the vehicle and second data associated with a contextual environment in which the vehicle operates;
- and
- based on the first data, the second data, and the determined preference of the driver for drift driving, determining to transition the vehicle from grip driving to drift driving.
1 more element
A vehicle comprising:
- one or more processors;
- and
- memory storing machine-readable instructions, which when executed by the one or more processors, cause the vehicle to:
- receive first data associated with a current operational state of the vehicle and second data associated with a contextual environment in which the vehicle operates;
- based on the first data and the second data, plan a trajectory for the vehicle, wherein the trajectory comprises a transition from grip driving to drift driving, and wherein the planning comprises correlating the first data to a multi-dimensional representation of operational states of the vehicle partitioned into grip driving regions and drift driving regions;
- and
- execute the planned trajectory.
4 more elements
Dependencies are inferred from the claim text.